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Command.h@0:9a3e048866cb, 2016-05-09 (annotated)
- Committer:
- gosari
- Date:
- Mon May 09 06:07:33 2016 +0000
- Revision:
- 0:9a3e048866cb
r
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
gosari | 0:9a3e048866cb | 1 | #include "mbed.h" |
gosari | 0:9a3e048866cb | 2 | typedef unsigned char BYTE; |
gosari | 0:9a3e048866cb | 3 | |
gosari | 0:9a3e048866cb | 4 | class Command { |
gosari | 0:9a3e048866cb | 5 | |
gosari | 0:9a3e048866cb | 6 | private: |
gosari | 0:9a3e048866cb | 7 | BYTE M[6]; |
gosari | 0:9a3e048866cb | 8 | |
gosari | 0:9a3e048866cb | 9 | public: |
gosari | 0:9a3e048866cb | 10 | Command() |
gosari | 0:9a3e048866cb | 11 | { |
gosari | 0:9a3e048866cb | 12 | M[0] = 0x03; |
gosari | 0:9a3e048866cb | 13 | M[1] = 0x00; |
gosari | 0:9a3e048866cb | 14 | M[2] = 0x00; |
gosari | 0:9a3e048866cb | 15 | M[3] = 0x00; |
gosari | 0:9a3e048866cb | 16 | M[4] = 0x00; |
gosari | 0:9a3e048866cb | 17 | M[5] = 0x00; |
gosari | 0:9a3e048866cb | 18 | } |
gosari | 0:9a3e048866cb | 19 | |
gosari | 0:9a3e048866cb | 20 | void set() |
gosari | 0:9a3e048866cb | 21 | { |
gosari | 0:9a3e048866cb | 22 | M[0] = 0x03; |
gosari | 0:9a3e048866cb | 23 | M[1] = 0x00; |
gosari | 0:9a3e048866cb | 24 | M[2] = 0x00; |
gosari | 0:9a3e048866cb | 25 | M[3] = 0x00; |
gosari | 0:9a3e048866cb | 26 | M[4] = 0x00; |
gosari | 0:9a3e048866cb | 27 | M[5] = 0x00; |
gosari | 0:9a3e048866cb | 28 | } |
gosari | 0:9a3e048866cb | 29 | |
gosari | 0:9a3e048866cb | 30 | void LIGHT(int value) |
gosari | 0:9a3e048866cb | 31 | { |
gosari | 0:9a3e048866cb | 32 | M[4] = value; |
gosari | 0:9a3e048866cb | 33 | } |
gosari | 0:9a3e048866cb | 34 | |
gosari | 0:9a3e048866cb | 35 | void TH_L(int L) |
gosari | 0:9a3e048866cb | 36 | { |
gosari | 0:9a3e048866cb | 37 | if (L>0) |
gosari | 0:9a3e048866cb | 38 | { |
gosari | 0:9a3e048866cb | 39 | M[5] = M[5] | 4; |
gosari | 0:9a3e048866cb | 40 | M[1] = L; |
gosari | 0:9a3e048866cb | 41 | } |
gosari | 0:9a3e048866cb | 42 | else if (L<0) |
gosari | 0:9a3e048866cb | 43 | { |
gosari | 0:9a3e048866cb | 44 | M[5] = M[5] & (~4); |
gosari | 0:9a3e048866cb | 45 | M[1] = L * -1; |
gosari | 0:9a3e048866cb | 46 | } |
gosari | 0:9a3e048866cb | 47 | else if (L==0) |
gosari | 0:9a3e048866cb | 48 | { |
gosari | 0:9a3e048866cb | 49 | M[1] = L; |
gosari | 0:9a3e048866cb | 50 | } |
gosari | 0:9a3e048866cb | 51 | } |
gosari | 0:9a3e048866cb | 52 | |
gosari | 0:9a3e048866cb | 53 | void TH_R(int R) |
gosari | 0:9a3e048866cb | 54 | { |
gosari | 0:9a3e048866cb | 55 | if (R>0) |
gosari | 0:9a3e048866cb | 56 | { |
gosari | 0:9a3e048866cb | 57 | M[5] = M[5] | 8; |
gosari | 0:9a3e048866cb | 58 | M[2] = R; |
gosari | 0:9a3e048866cb | 59 | } |
gosari | 0:9a3e048866cb | 60 | else if (R<0) |
gosari | 0:9a3e048866cb | 61 | { |
gosari | 0:9a3e048866cb | 62 | M[5] = M[5] & (~8); |
gosari | 0:9a3e048866cb | 63 | M[2] = R * -1; |
gosari | 0:9a3e048866cb | 64 | } |
gosari | 0:9a3e048866cb | 65 | else if (R==0) |
gosari | 0:9a3e048866cb | 66 | { |
gosari | 0:9a3e048866cb | 67 | M[2] = R; |
gosari | 0:9a3e048866cb | 68 | } |
gosari | 0:9a3e048866cb | 69 | } |
gosari | 0:9a3e048866cb | 70 | |
gosari | 0:9a3e048866cb | 71 | void TH_H(int H) |
gosari | 0:9a3e048866cb | 72 | { |
gosari | 0:9a3e048866cb | 73 | if (H>0) |
gosari | 0:9a3e048866cb | 74 | { |
gosari | 0:9a3e048866cb | 75 | M[5] = M[5] & (~16); |
gosari | 0:9a3e048866cb | 76 | M[3] = H; |
gosari | 0:9a3e048866cb | 77 | } |
gosari | 0:9a3e048866cb | 78 | else if (H<0) |
gosari | 0:9a3e048866cb | 79 | { |
gosari | 0:9a3e048866cb | 80 | M[5] = M[5] | 16; |
gosari | 0:9a3e048866cb | 81 | M[3] = H * -1; |
gosari | 0:9a3e048866cb | 82 | } |
gosari | 0:9a3e048866cb | 83 | else if (H==0) |
gosari | 0:9a3e048866cb | 84 | { |
gosari | 0:9a3e048866cb | 85 | M[3] = H; |
gosari | 0:9a3e048866cb | 86 | } |
gosari | 0:9a3e048866cb | 87 | } |
gosari | 0:9a3e048866cb | 88 | |
gosari | 0:9a3e048866cb | 89 | BYTE* Re() |
gosari | 0:9a3e048866cb | 90 | { |
gosari | 0:9a3e048866cb | 91 | return M; |
gosari | 0:9a3e048866cb | 92 | } |
gosari | 0:9a3e048866cb | 93 | |
gosari | 0:9a3e048866cb | 94 | }; // Class Command |
gosari | 0:9a3e048866cb | 95 |